From 58d646e33d0ba1aff8781947208d7ccaaf7b8539 Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Sat, 12 Oct 2019 07:15:08 +0200 Subject: [PATCH] Log CPU loads --- src/modules/logger/logger.cpp | 1 + src/modules/mavlink/mavlink_receiver.cpp | 9 +++++++++ 2 files changed, 10 insertions(+) diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp index c40e221f20..699c3e5d55 100644 --- a/src/modules/logger/logger.cpp +++ b/src/modules/logger/logger.cpp @@ -643,6 +643,7 @@ void Logger::add_vision_and_avoidance_topics() add_topic("vehicle_trajectory_waypoint", 200); add_topic("vehicle_trajectory_waypoint_desired", 200); add_topic("vehicle_visual_odometry", 30); + add_topic("onboard_computer_status", 200); } void Logger::add_system_identification_topics() diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 442e28f04f..afe60a1fcf 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -2547,6 +2547,15 @@ MavlinkReceiver::handle_message_onboard_computer_status(mavlink_message_t *msg) onboard_computer_status_s onboard_computer_status_topic{}; + onboard_computer_status_topic.cpu_cores[0] = status_msg.cpu_cores[0]; + onboard_computer_status_topic.cpu_cores[1] = status_msg.cpu_cores[1]; + onboard_computer_status_topic.cpu_cores[2] = status_msg.cpu_cores[2]; + onboard_computer_status_topic.cpu_cores[3] = status_msg.cpu_cores[3]; + onboard_computer_status_topic.cpu_cores[4] = status_msg.cpu_cores[4]; + onboard_computer_status_topic.cpu_cores[5] = status_msg.cpu_cores[5]; + onboard_computer_status_topic.cpu_cores[6] = status_msg.cpu_cores[6]; + onboard_computer_status_topic.cpu_cores[7] = status_msg.cpu_cores[7]; + _onboard_computer_status_pub.publish(onboard_computer_status_topic); }